Name
Title | ||
|---|---|---|
Trajectory Following using Nonlinear Model Predictive Control and 3D Point-Cloud-based Localization for Autonomous Driving |
Abstract | ||
|---|---|---|
In autonomous driving, the trajectory follower is one of the critical controllers which should be capable of handling different driving scenarios. Most of the existing controllers are limited to a particular driving scenario and for a specific vehicle model. In this work, the trajectory follower is formulated as a nonlinear model predictive control problem and solved using the multiple-shooting trajectory optimization method, Gauss-Newton Multiple Shooting. This solver has already been used for other control applications and provides the flexibility to use different nonlinear models. The controller is tested using a retrofitted autonomous driving platform, along with the 3D point-cloud-based mapping and localization algorithms. The nonlinear model being used is a classical kinematic bicycle model. Due to the high nonlinearity between the vehicle inputs, throttle and brake, and the acceleration, the longitudinal speed control uses an additional piece-wise linear mapping. The results from the initial tests, while following a predefined trajectory on a Go-Kart test-track, are evaluated and presented here. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/ECMR.2019.8870956 | 2019 European Conference on Mobile Robots (ECMR) |
Keywords | Field | DocType |
trajectory follower,nonlinear model predictive control problem,multiple-shooting trajectory optimization method,retrofitted autonomous driving platform,kinematic bicycle model,longitudinal speed control,predefined trajectory,Gauss-Newton multiple shooting method,Go-Kart test-track | Control theory,Nonlinear system,Kinematics,Trajectory optimization,Computer science,Control theory,Simulation,Model predictive control,Solver,Trajectory,Electronic speed control | Conference |
ISBN | Citations | PageRank |
978-1-7281-3606-6 | 0 | 0.34 |
References | Authors | |
9 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ajish Babu | 1 | 4 | 1.09 |
| Kerim Yener Yurtdas | 2 | 0 | 0.34 |
| Christian Ernst Siegfried Koch | 3 | 0 | 0.34 |
| Mehmed Yüksel | 4 | 6 | 1.70 |